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1183 lines (1100 loc) · 55.6 KB
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="color-scheme" content="dark light">
<meta name="theme-color" content="#090a0e">
<title>Krishna Gupta — Robotics Engineer</title>
<meta name="description" content="Krishna Gupta — robotics engineer. Perception, control and autonomy — from LiDAR SLAM and GPS navigation to whole-body control, simulation and policy deployment.">
<style>
/* dark is the default; light only applies when explicitly chosen */
:root {
--bg: #090a0e;
--surface: #101218;
--surface-2: #14171f;
--text: #eceef2;
--text-2: #969cab;
--border: #232733;
--accent: #8b8cf7;
--accent-2: #a5a4ff;
--ring: rgba(139,140,247,0.18);
--shadow-sm: 0 1px 2px rgba(0,0,0,0.4);
--shadow-lg: 0 12px 40px rgba(0,0,0,0.5);
}
:root[data-theme="light"] {
--bg: #ffffff;
--surface: #ffffff;
--surface-2: #f7f8fa;
--text: #14161b;
--text-2: #565d6b;
--border: #e4e7ec;
--accent: #3b39c9;
--accent-2: #6d6bf0;
--ring: rgba(59,57,201,0.14);
--shadow-sm: 0 1px 2px rgba(20,22,27,0.05);
--shadow-lg: 0 12px 40px rgba(20,22,27,0.09);
}
* { box-sizing: border-box; margin: 0; padding: 0; }
html { scroll-behavior: smooth; }
body {
background: var(--bg);
color: var(--text);
font-family: ui-sans-serif, -apple-system, BlinkMacSystemFont, "Segoe UI", Inter, Roboto, "Helvetica Neue", Arial, sans-serif;
line-height: 1.62;
-webkit-font-smoothing: antialiased;
overflow-x: hidden;
}
img, video, svg { display: block; max-width: 100%; }
a { color: inherit; }
::selection { background: var(--ring); }
.wrap { max-width: 1120px; margin: 0 auto; padding: 0 1.5rem; }
/* grid/flex children default to min-width:auto and refuse to shrink below
their content, which is what pushed the page wider than the phone */
.hero-grid > *, .reel-row > *, .reel-stage > *, .reel-deck > *,
.metrics > *, .skills > *, .approach > * { min-width: 0; }
/* ============ NAV ============ */
header.nav {
position: sticky; top: 0; z-index: 100;
background: color-mix(in srgb, var(--bg) 82%, transparent);
backdrop-filter: saturate(180%) blur(12px);
border-bottom: 1px solid var(--border);
}
.nav-inner {
max-width: 1120px; margin: 0 auto; padding: 0 1.5rem;
height: 62px; display: flex; align-items: center; gap: 1.75rem;
}
.brand {
font-weight: 700; font-size: 1rem; letter-spacing: -0.015em;
text-decoration: none; display: flex; align-items: center; gap: 0.55rem;
white-space: nowrap;
}
.brand .dot { flex: none; }
.brand .dot {
width: 9px; height: 9px; border-radius: 50%;
background: var(--accent); box-shadow: 0 0 0 4px var(--ring);
}
.nav-links { display: flex; gap: 1.6rem; margin-left: auto; font-size: 0.9rem; }
.nav-links a { text-decoration: none; color: var(--text-2); transition: color 0.16s; }
.nav-links a:hover { color: var(--text); }
.theme-toggle {
margin-left: 0.25rem;
border: 1px solid var(--border); background: var(--surface); color: var(--text);
width: 34px; height: 34px; border-radius: 9px;
display: grid; place-items: center; cursor: pointer;
font-size: 0.95rem; transition: border-color 0.16s, background 0.16s;
}
.theme-toggle:hover { border-color: var(--accent); background: var(--surface-2); }
@media (max-width: 720px) { .nav-links { gap: 1rem; font-size: 0.82rem; } .nav-links a:nth-child(n+4) { display: none; } }
/* below this the brand, links and toggle can't share a row -- drop the links */
@media (max-width: 540px) { .nav-links { display: none; } }
/* ============ HERO ============ */
.hero { padding: 5rem 0 3rem; position: relative; }
.hero::before {
content: ""; position: absolute; top: -120px; left: 50%;
transform: translateX(-50%);
/* fixed 900px here pushed the page wider than small viewports */
width: min(900px, 100%); height: 420px; pointer-events: none; z-index: -1;
background: radial-gradient(ellipse at center, var(--ring), transparent 68%);
filter: blur(20px);
}
.status {
display: inline-flex; align-items: center; gap: 0.5rem;
border: 1px solid var(--border); background: var(--surface);
border-radius: 999px; padding: 0.3rem 0.85rem;
font-size: 0.78rem; color: var(--text-2); margin-bottom: 1.5rem;
}
.hero h1 {
font-size: clamp(2.3rem, 6.2vw, 4rem);
font-weight: 780; letter-spacing: -0.032em; line-height: 1.05; max-width: 19ch;
}
.hero h1 em {
font-style: normal;
background: linear-gradient(100deg, var(--accent), var(--accent-2));
-webkit-background-clip: text; background-clip: text; color: transparent;
}
.hero .lede { margin-top: 1.35rem; max-width: 54ch; color: var(--text-2); font-size: 1.09rem; }
.hero-grid {
display: grid; grid-template-columns: minmax(0, 1fr) 380px;
gap: 3rem; align-items: center;
}
.hero-media { position: relative; justify-self: end; }
.hero-media img {
width: 100%; height: auto;
/* fade the base into the page so it reads as art, not a pasted PNG */
-webkit-mask-image: linear-gradient(to bottom, #000 68%, transparent 99%);
mask-image: linear-gradient(to bottom, #000 68%, transparent 99%);
}
/* the render is near-black; lift it off the light background only */
:root[data-theme="light"] .hero-media img { filter: drop-shadow(0 18px 45px rgba(20,22,27,0.22)); }
@media (max-width: 900px) {
.hero-grid { grid-template-columns: 1fr; gap: 2rem; }
.hero-media { display: none; }
}
.hero-actions { display: flex; gap: 0.7rem; flex-wrap: wrap; margin-top: 2rem; }
.btn {
display: inline-flex; align-items: center; gap: 0.45rem;
padding: 0.7rem 1.25rem; border-radius: 10px;
font-size: 0.92rem; font-weight: 600; text-decoration: none;
border: 1px solid transparent; cursor: pointer; font-family: inherit;
transition: transform 0.14s, background 0.16s, border-color 0.16s, box-shadow 0.16s;
}
.btn:hover { transform: translateY(-2px); }
.btn.primary { background: var(--accent); color: #fff; box-shadow: 0 6px 18px var(--ring); }
.btn.ghost { border-color: var(--border); background: var(--surface); color: var(--text); }
.btn.ghost:hover { border-color: var(--accent); color: var(--accent); }
/* ============ METRICS ============ */
.metrics {
display: grid; grid-template-columns: repeat(auto-fit, minmax(150px, 1fr));
border: 1px solid var(--border); border-radius: 14px;
background: var(--surface); overflow: hidden; margin-top: 3rem;
}
.metric { padding: 1.15rem 1.25rem; border-right: 1px solid var(--border); }
.metric:last-child { border-right: none; }
.metric .v { font-size: 1.5rem; font-weight: 720; letter-spacing: -0.02em; }
.metric .v span { font-size: 0.85rem; color: var(--text-2); font-weight: 500; }
.metric .k {
font-size: 0.74rem; color: var(--text-2); margin-top: 0.15rem;
letter-spacing: 0.04em; text-transform: uppercase;
}
/* phone shows these 2x2, so borders follow the grid rather than a stack */
@media (max-width: 700px) {
.metric { border-bottom: 1px solid var(--border); }
.metric:nth-child(2n) { border-right: none; }
.metric:nth-last-child(-n+2) { border-bottom: none; }
}
/* ============ APPROACH (quiet footnote, not a headline) ============ */
.approach {
display: grid; grid-template-columns: repeat(auto-fit, minmax(210px, 1fr));
gap: 1.6rem 2.2rem;
border-top: 1px solid var(--border); padding-top: 1.6rem;
}
.ap h3 {
font-size: 0.78rem; font-weight: 700; letter-spacing: 0.08em;
text-transform: uppercase; color: var(--text-2); margin-bottom: 0.35rem;
}
.ap p { color: var(--text-2); font-size: 0.86rem; }
/* ============ PULL QUOTE ============ */
.quote {
border-top: 1px solid var(--border); border-bottom: 1px solid var(--border);
padding: 3.2rem 1.5rem; margin: 1rem 0;
text-align: center;
}
.quote p {
font-size: clamp(1.15rem, 2.6vw, 1.6rem);
font-weight: 500; line-height: 1.45; letter-spacing: -0.015em;
max-width: 30ch; margin: 0 auto; color: var(--text);
}
.quote p em {
font-style: normal;
background: linear-gradient(100deg, var(--accent), var(--accent-2));
-webkit-background-clip: text; background-clip: text; color: transparent;
}
/* ============ SECTIONS ============ */
section { padding: 4.5rem 0; }
.sec-head { margin-bottom: 2rem; max-width: 62ch; }
.sec-head .tag {
font-size: 0.75rem; font-weight: 700; letter-spacing: 0.14em;
text-transform: uppercase; color: var(--accent);
}
.sec-head h2 {
font-size: clamp(1.6rem, 3.4vw, 2.1rem); font-weight: 740;
letter-spacing: -0.022em; margin-top: 0.45rem;
}
.sec-head p { color: var(--text-2); margin-top: 0.6rem; }
.rule { height: 1px; background: var(--border); }
.group-head {
display: flex; align-items: center; gap: 0.8rem;
margin: 2.6rem 0 1.3rem;
}
.group-head:first-of-type { margin-top: 0; }
.group-head h3 {
font-size: 0.82rem; font-weight: 700; letter-spacing: 0.12em;
text-transform: uppercase; color: var(--text-2);
}
.group-head .ln { height: 1px; background: var(--border); flex: 1; }
/* ============ UNLOCK BAR ============ */
.unlock {
display: flex; align-items: center; gap: 0.75rem; flex-wrap: wrap;
border: 1px solid var(--border); border-radius: 12px;
background: var(--surface-2); padding: 0.9rem 1.1rem;
}
.unlock .ico { color: var(--accent); font-size: 1.05rem; }
.unlock .msg { font-size: 0.89rem; color: var(--text-2); flex: 1; min-width: 210px; }
.unlock input {
font: inherit; font-size: 0.9rem;
padding: 0.5rem 0.8rem; border-radius: 9px;
border: 1px solid var(--border); background: var(--surface); color: var(--text);
width: 165px; outline: none;
}
.unlock input:focus { border-color: var(--accent); box-shadow: 0 0 0 3px var(--ring); }
.unlock .btn { padding: 0.52rem 1.05rem; }
.unlock.ok { border-color: rgba(34,197,94,0.45); background: rgba(34,197,94,0.07); }
.unlock.bad input { border-color: #ef4444; }
.unlock .err { color: #ef4444; font-size: 0.85rem; width: 100%; }
/* ============ CLIPS ============ */
.reel-row {
display: grid; grid-template-columns: 1fr 1fr; gap: 0.9rem;
border: 1px solid var(--border); border-radius: 16px;
background: var(--surface); padding: 1.4rem; box-shadow: var(--shadow-sm);
margin-bottom: 1.5rem;
}
.reel-head { grid-column: 1 / -1; padding: 0 0.1rem 1.1rem; }
.reel-head h3 { font-size: 1.08rem; font-weight: 700; letter-spacing: -0.012em; }
.reel-head p { color: var(--text-2); font-size: 0.88rem; max-width: 68ch; margin-top: 0.25rem; }
/* both halves of a sim/real pair share one frame, so the row never goes ragged --
the footage itself ranges from 1:1 to 2:1 */
.reel-row .clip { aspect-ratio: 3 / 2; }
.pair-cap {
font-size: 0.78rem; color: var(--text-2); text-align: center;
margin-top: 0.5rem; letter-spacing: 0.02em;
}
.clip {
position: relative; border-radius: 11px; overflow: hidden;
background: #05060a; aspect-ratio: var(--ar, 16/9);
}
/* contain, never crop -- these clips are square/portrait/wide and all differ */
.clip video { width: 100%; height: 100%; object-fit: contain; background: #05060a; }
.clip .label {
position: absolute; top: 0.6rem; left: 0.6rem; z-index: 3;
background: rgba(5,6,10,0.72); backdrop-filter: blur(6px);
color: #f2f3f7; border: 1px solid rgba(255,255,255,0.14);
font-size: 0.68rem; font-weight: 700; letter-spacing: 0.1em;
text-transform: uppercase; padding: 0.22rem 0.55rem; border-radius: 6px;
}
.clip .label.real { border-color: rgba(34,197,94,0.5); color: #86efac; }
.clip .label.sim { border-color: rgba(139,140,247,0.5); color: #c7c7ff; }
.clip.locked .preview {
position: absolute; inset: 0; width: 100%; height: 100%;
object-fit: cover; transform: scale(1.15);
filter: blur(14px) saturate(1.1) brightness(0.72);
}
.clip.locked video { visibility: hidden; }
.clip .veil {
position: absolute; inset: 0; z-index: 2;
display: flex; flex-direction: column; align-items: center; justify-content: center;
gap: 0.35rem; text-align: center; padding: 1rem;
background: rgba(5,6,10,0.32); transition: opacity 0.35s;
}
.clip .veil .lockico { font-size: 1.5rem; }
.clip .veil .t { color: #f2f3f7; font-size: 0.86rem; font-weight: 650; text-shadow: 0 1px 6px rgba(0,0,0,0.6); }
.clip .veil .s { color: rgba(242,243,247,0.72); font-size: 0.76rem; text-shadow: 0 1px 6px rgba(0,0,0,0.6); }
.clip.unlocked .veil, .clip.unlocked .preview { opacity: 0; pointer-events: none; }
.clip.unlocked video { visibility: visible; }
.clip.working .veil .s::after { content: ""; animation: dots 1.2s steps(4, end) infinite; }
@keyframes dots { 0% { content: ""; } 25% { content: "."; } 50% { content: ".."; } 75% { content: "..."; } }
/* ============ REELS (portrait) ============ */
/* portrait reels sit beside their write-up rather than floating alone */
.reel-stage {
display: grid; grid-template-columns: 320px 1fr; gap: 2.2rem;
align-items: center;
border: 1px solid var(--border); border-radius: 16px;
background: var(--surface); padding: 1.6rem; box-shadow: var(--shadow-sm);
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.reel-stage .reel-head p { font-size: 0.92rem; margin-top: 0.5rem; }
.reel-stage .notes {
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/* min() keeps the track from forcing a floor wider than the screen */
.reel-deck { display: grid; grid-template-columns: repeat(auto-fit, minmax(min(240px, 100%), 1fr)); gap: 1.4rem; }
.reel-stage.duo .reel-deck { max-width: 660px; margin: 0 auto; }
.reel-deck .clip { border-radius: 14px; }
.reel-deck .cap {
text-align: center; font-size: 0.82rem; color: var(--text-2); margin-top: 0.6rem;
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/* horizontal scrolling carousel variant */
.reel-deck.carousel {
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.reel-single { width: 100%; }
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.reel-stage { grid-template-columns: 1fr; gap: 1.4rem; }
.reel-single { max-width: 320px; margin: 0 auto; }
}
/* 2s cinematic reveal for the showcase reel */
@keyframes reelReveal {
0% { opacity: 0; transform: scale(1.14); filter: blur(22px) brightness(0.35); }
55% { opacity: 1; }
100% { opacity: 1; transform: scale(1); filter: blur(0) brightness(1); }
}
.clip.revealing video { animation: reelReveal 2s cubic-bezier(0.22, 0.61, 0.36, 1) both; }
.clip-btn {
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transition: transform 0.14s, background 0.16s;
}
.clip-btn:hover { transform: scale(1.08); background: rgba(5,6,10,0.85); }
.sound-btn { right: 0.6rem; }
.fs-btn { right: 3.2rem; }
.clip.playing .clip-btn { display: grid; }
/* big play button -- the reel never starts on its own */
.play-btn {
position: absolute; inset: 0; z-index: 5;
display: none; flex-direction: column; align-items: center; justify-content: center;
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.clip.ready .play-btn { display: flex; }
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.play-btn .disc {
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font-size: 1.5rem; padding-left: 5px;
transition: transform 0.16s, background 0.16s;
}
.play-btn:hover .disc { transform: scale(1.07); background: rgba(255,255,255,0.24); }
.play-btn .hint {
font-size: 0.78rem; letter-spacing: 0.04em;
color: rgba(242,243,247,0.88); text-shadow: 0 1px 6px rgba(0,0,0,0.7);
}
/* 2s black title card before the reel starts */
.intro {
position: absolute; inset: 0; z-index: 7;
display: grid; place-items: center; text-align: center; padding: 1.2rem;
background: #000; opacity: 0; pointer-events: none;
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}
.clip.intro-on .intro { opacity: 1; }
.intro .l1 {
color: #fff; font-size: 0.95rem; font-weight: 680; letter-spacing: 0.01em;
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}
.intro .l2 {
color: rgba(255,255,255,0.62); font-size: 0.8rem; margin-top: 0.4rem;
opacity: 0; animation: introIn 0.6s ease-out 0.5s both;
}
@keyframes introIn { from { opacity: 0; transform: translateY(8px); } to { opacity: 1; transform: none; } }
@media (max-width: 720px) { .reel-row { grid-template-columns: 1fr; } }
/* ============ EXPERIENCE ============ */
.xp {
border: 1px solid var(--border); border-radius: 16px;
background: var(--surface); padding: 1.9rem; box-shadow: var(--shadow-sm);
margin-bottom: 1.3rem;
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.xp li::before {
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.pill {
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background: var(--surface-2); border: 1px solid var(--border);
border-radius: 7px; padding: 0.26rem 0.6rem; white-space: nowrap;
}
/* ============ SKILLS ============ */
.skills { display: grid; grid-template-columns: repeat(auto-fit, minmax(230px, 1fr)); gap: 1.1rem; }
.skill {
border: 1px solid var(--border); border-radius: 14px;
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.skill h3 {
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text-transform: uppercase; color: var(--text-2); margin-bottom: 0.85rem;
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.skill .pills { display: flex; flex-wrap: wrap; gap: 0.4rem; }
/* ============ TEAM ============ */
.team { text-align: center; }
.team-frame {
border: 1px solid var(--border); border-radius: 16px;
background: var(--surface); padding: 0.6rem;
box-shadow: var(--shadow-lg); overflow: hidden;
max-width: 620px; margin: 0 auto;
}
.team-frame img { width: 100%; height: auto; border-radius: 10px; }
.team .cap {
color: var(--text-2); font-size: 0.9rem;
margin: 1.1rem auto 0; max-width: 52ch;
}
/* ============ CONTACT ============ */
.contact {
border: 1px solid var(--border); border-radius: 18px;
background: var(--surface); padding: 3rem 2rem; text-align: center;
position: relative; overflow: hidden;
}
.contact::before {
content: ""; position: absolute; inset: -60% 20% auto 20%; height: 300px;
background: radial-gradient(ellipse at center, var(--ring), transparent 70%);
pointer-events: none;
}
.contact h2 { font-size: clamp(1.5rem,3.4vw,2rem); font-weight: 740; letter-spacing: -0.022em; position: relative; }
.contact p { color: var(--text-2); margin: 0.6rem auto 1.7rem; max-width: 48ch; position: relative; }
.contact .btns { display: flex; justify-content: center; gap: 0.7rem; flex-wrap: wrap; position: relative; }
footer {
border-top: 1px solid var(--border); margin-top: 4rem;
padding: 1.8rem 0 2.5rem;
display: flex; justify-content: space-between; gap: 1rem; flex-wrap: wrap;
color: var(--text-2); font-size: 0.84rem;
}
footer a { text-decoration: none; }
footer a:hover { color: var(--accent); }
@media (prefers-reduced-motion: reduce) {
* { animation: none !important; transition: none !important; }
html { scroll-behavior: auto; }
.clip.revealing video { animation: none !important; }
}
</style>
</head>
<body>
<header class="nav">
<div class="nav-inner">
<a class="brand" href="#top"><span class="dot"></span>Krishna Gupta</a>
<nav class="nav-links">
<a href="#work">Work</a>
<a href="#experience">Experience</a>
<a href="#skills">Skills</a>
<a href="assets/docs/sys_spec.pdf" target="_blank" rel="noopener">Spec Sheet</a>
<a href="#contact">Contact</a>
</nav>
<button class="theme-toggle" id="themeToggle" aria-label="Toggle color theme" title="Toggle theme">◐</button>
</div>
</header>
<main class="wrap" id="top">
<!-- ===== HERO ===== -->
<section class="hero">
<div class="hero-grid">
<div>
<div class="status">Robotics Engineer</div>
<h1>Robotics Engineer, <em>perception, control & autonomy</em>.</h1>
<p class="lede">
Building end-to-end autonomous systems — from LiDAR SLAM, GPS navigation, and visual servoing to humanoid whole-body control, VLA policy deployment (GR00T), simulation (Isaac Sim, MuJoCo), and embedded firmware.
Currently Mechatronics Engineer at SS Innovations; previously mobile robotics at Rigbetellabs.
</p>
<div class="hero-actions">
<a class="btn primary" href="#work">Watch the demos</a>
<a class="btn ghost" href="assets/docs/sys_spec.pdf" target="_blank" rel="noopener">Spec Sheet ↗</a>
<a class="btn ghost" href="https://github.com/robomantri" target="_blank" rel="noopener">GitHub ↗</a>
<a class="btn ghost" href="mailto:krishnaguptarobotics@gmail.com">Email</a>
</div>
</div>
<div class="hero-media" aria-hidden="true">
<picture>
<source srcset="humanoid.webp" type="image/webp">
<img src="humanoid.png" alt="" width="900" height="1034" loading="eager" decoding="async">
</picture>
</div>
</div>
<div class="metrics">
<div class="metric"><div class="v">ROS 2 <span>NAV2</span></div><div class="k">Autonomous Navigation</div></div>
<div class="metric"><div class="v">Sensor <span>Fusion</span></div><div class="k">LiDAR · IMU · Vision · GPS</div></div>
<div class="metric"><div class="v">1 <span>kHz</span></div><div class="k">Real-time Motor Loop</div></div>
<div class="metric"><div class="v">Sim-to-Real</div><div class="k">Isaac Sim & Hardware</div></div>
</div>
</section>
<!-- ===== PULL QUOTE ===== -->
<blockquote class="quote">
<p>“In a world of probabilistic models, I try to engineer <em>deterministic machines</em>.”</p>
</blockquote>
<!-- ===== WORK ===== -->
<section id="work">
<div class="sec-head">
<div class="tag">Work</div>
<h2>Simulation, then hardware</h2>
<p>Hardware footage is password-protected.</p>
</div>
<form class="unlock" id="unlockBar" autocomplete="off">
<span class="ico">🔒</span>
<span class="msg" id="unlockMsg">Hardware footage is protected. Enter the password to view it.</span>
<input type="password" id="pw" placeholder="Password" aria-label="Password for hardware footage">
<button class="btn primary" type="submit" id="unlockBtn">Unlock</button>
</form>
<div class="group-head"><h3>Kayaa · humanoid autonomy</h3><span class="ln"></span></div>
<div class="reel-row">
<div class="reel-head">
<h3>Teleoperation from a single webcam</h3>
<p>Monocular pose estimation retargeted to 29 DoF, executed through whole-body control. No mocap suit, no markers.</p>
</div>
<div>
<div class="clip">
<video src="videos/teleop-webcam-sim.mp4" autoplay muted loop playsinline preload="metadata"
controlslist="nodownload" disablepictureinpicture></video>
<span class="label sim">Simulation</span>
</div>
<div class="pair-cap">Retargeted pose tracking in simulation</div>
</div>
<div>
<div class="clip locked" data-enc="videos/teleop-webcam-real.mp4.enc">
<img class="preview" alt="" aria-hidden="true"
src="data:image/jpeg;base64,/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAwICQsJCAwLCgsODQwOEh4UEhEREiUbHBYeLCcuLisnKyoxN0Y7MTRCNCorPVM+QkhKTk9OLztWXFVMW0ZNTkv/2wBDAQ0ODhIQEiQUFCRLMisyS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0v/wAARCAAwADADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwBPJYcjkU2JJZpsKOK0LdkZSCKpW19Ha3zL1BNClYTjc0DpfmRZb7wrPj3Jc+VJwBWyNUQjhTWFqM+6+BAxmlK7BWRuSaaskAIYVBFpQB4NZ0d3ch9qkkVciu7pP4DWcFNL3mN2IBdQpE2zrisS1lJ1Is67lzVpeBioJmEfKdasZ0Iu4gOIxWPeXQe+UhRio0kldQc1TklK3il+lAjajuTG24KKf/aUgPQVVDqQMUjYIoAqyMUqi0xEnz9KuX2Y5MVQdd7UwLYvFRQFGapXUrysCFxU6RU/ygOtAD7OVjGA3WrHmEVDHgDihnoA/9k=">
<video muted loop playsinline preload="none" controlslist="nodownload" disablepictureinpicture></video>
<span class="label real">Real robot</span>
<div class="veil"><div class="lockico">🔒</div><div class="t">Hardware footage</div><div class="s">Password required</div></div>
</div>
<div class="pair-cap">The same policy driving the physical G1</div>
</div>
</div>
<div class="reel-row">
<div class="reel-head">
<h3>Vision-language-action policy: instrument transport</h3>
<p>GR00T N1.6 fine-tuned for surgical instrument transport in NVIDIA's Isaac for Healthcare Rheo workflow — the G1 grasps a cart handle and moves a loaded sterile tray to the surgical table. Simulation workflow only, not for clinical use.</p>
</div>
<div>
<div class="clip">
<video src="videos/vla-sim.mp4" autoplay muted loop playsinline preload="metadata"
controlslist="nodownload" disablepictureinpicture></video>
<span class="label sim">Simulation</span>
</div>
<div class="pair-cap">Policy rollout in Isaac Sim</div>
</div>
<div>
<div class="clip locked" data-enc="videos/vla-real.mp4.enc">
<img class="preview" alt="" aria-hidden="true"
src="data:image/jpeg;base64,/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAwICQsJCAwLCgsODQwOEh4UEhEREiUbHBYeLCcuLisnKyoxN0Y7MTRCNCorPVM+QkhKTk9OLztWXFVMW0ZNTkv/2wBDAQ0ODhIQEiQUFCRLMisyS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0v/wAARCAAbADADASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSExBhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElKU1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwDh7IKZwW6CuutkS7jQY+UVx9ouJl3dM16BYxxS2aCHg4613z3EXLbT4VQEVS8R6eHs96DpVsB4LZhuJaqIvp5Ymt3TOe9RYlnDyAqxBqN3wK1dQ06ZJGOw4+lZFzGyDBBFEV7xKL4spfMHy13GhwLHaLnrWMQM9K19OJ2DmsXV1PUqYNRV7mn5YPaqssKo+QtaUYG0UjKCegrdHC4FKNI5hh0B/CsPxJpEPk74kwfaupVQD0FR3SKycgGrTsLlP//Z">
<video muted loop playsinline preload="none" controlslist="nodownload" disablepictureinpicture></video>
<span class="label real">Real robot</span>
<div class="veil"><div class="lockico">🔒</div><div class="t">Hardware footage</div><div class="s">Password required</div></div>
</div>
<div class="pair-cap">Deployed to hardware on Jetson-class compute</div>
</div>
</div>
<div class="reel-stage">
<div class="reel-single">
<div class="clip locked" style="--ar: 576/1024" data-enc="videos/imitation-dance.mp4.enc" data-manual="1">
<img class="preview" alt="" aria-hidden="true"
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<video muted loop playsinline preload="none" controlslist="nodownload" disablepictureinpicture></video>
<span class="label real">Real robot</span>
<button class="play-btn" type="button" aria-label="Play with sound">
<span class="disc" aria-hidden="true">▶</span>
<span class="hint">Play with sound</span>
</button>
<div class="intro" aria-hidden="true">
<div>
<div class="l1">Best full screen, with sound.</div>
</div>
</div>
<button class="clip-btn fs-btn" type="button" aria-label="Full screen" title="Full screen">⛶</button>
<button class="clip-btn sound-btn" type="button" aria-label="Toggle sound" title="Toggle sound">🔊</button>
<div class="veil"><div class="lockico">🔒</div><div class="t">Hardware footage</div><div class="s">Password required</div></div>
</div>
</div>
<div class="reel-head">
<h3>Imitation-learning choreography</h3>
<p>
A dance sequence learned from human demonstration and replayed on the robot —
24 seconds of continuous whole-body tracking, staying balanced against a
reference that never pauses.
</p>
<div class="notes">
<span class="pill">24 s continuous</span>
<span class="pill">Whole-body tracking</span>
</div>
</div>
</div>
<div class="group-head"><h3>Mobile robots & embedded · Rigbetellabs</h3><span class="ln"></span></div>
<div class="reel-stage duo">
<div class="reel-head">
<h3>Autonomous mobile robots & embedded control</h3>
<p>Outdoor GPS-fused autonomous AMR navigation (PX4 + ROS 2 NAV2), indoor docking & line following, and a record-and-play robotic arm built on an ESP32.</p>
</div>
<div class="reel-deck carousel">
<div class="reel-item">
<div class="clip locked" style="--ar: 9/16" data-enc="videos/amr-outdoor-gps.mp4.enc">
<img class="preview" alt="" aria-hidden="true"
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<span class="label real">Real robot</span>
<div class="veil"><div class="lockico">🔒</div><div class="t">Hardware footage</div><div class="s">Password required</div></div>
</div>
<div class="cap">Outdoor GPS-Fused AMR Autonomous Navigation (ROS 2 NAV2 + PX4)</div>
</div>
<div class="reel-item">
<div class="clip locked" style="--ar: 9/16" data-enc="videos/amr-docking-line-follower.mp4.enc">
<img class="preview" alt="" aria-hidden="true"
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<span class="label real">Real robot</span>
<div class="veil"><div class="lockico">🔒</div><div class="t">Hardware footage</div><div class="s">Password required</div></div>
</div>
<div class="cap">AMR — autonomous docking & line following</div>
</div>
<div class="reel-item">
<div class="clip locked" style="--ar: 9/16" data-enc="videos/record-play-arm.mp4.enc">
<img class="preview" alt="" aria-hidden="true"
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<span class="label real">Real robot</span>
<div class="veil"><div class="lockico">🔒</div><div class="t">Hardware footage</div><div class="s">Password required</div></div>
</div>
<div class="cap">Record-and-play arm — ESP32, analog servo feedback</div>
</div>
</div>
</div>
<div class="group-head"><h3>Research & College Projects</h3><span class="ln"></span></div>
<div class="reel-stage duo">
<div class="reel-head">
<h3>Swarm robotics & visual servoing</h3>
<p>Research paper published in Springer AJSE on XGBoost-enhanced optical light communication for swarm robots, and an overhead visual servoing system for autonomous mobile navigation (IIT Bombay e-Yantra Top 30).</p>
</div>
<div class="reel-deck">
<div class="reel-item">
<div class="clip" style="--ar: 4/3">
<video src="videos/swarmrobots.mp4" autoplay muted loop playsinline preload="metadata" controlslist="nodownload" disablepictureinpicture></video>
<span class="label sim">Research Demo</span>
</div>
<div class="cap">XGBoost Color-Light Communication Swarm Robotics (Springer AJSE)</div>
</div>
<div class="reel-item">
<div class="clip" style="--ar: 4/3">
<video src="videos/visualservoing-vanguard.mp4" autoplay muted loop playsinline preload="metadata" controlslist="nodownload" disablepictureinpicture></video>
<span class="label real">Real robot</span>
</div>
<div class="cap">Vanguard — Overhead Camera Visual Servoing (eYRC 2023-24 Top 30)</div>
</div>
</div>
</div>
</section>
<div class="rule"></div>
<!-- ===== EXPERIENCE ===== -->
<section id="experience">
<div class="sec-head">
<div class="tag">Experience</div>
<h2>Where I've worked</h2>
</div>
<div class="xp">
<div class="xp-top">
<div>
<h3>Mechatronics Engineer, Robotics R&D</h3>
<div class="co">SS Innovations Private Limited — Gurugram</div>
</div>
<div class="meta">Surgical robotics · humanoid teleoperation & robot learning</div>
</div>
<ul>
<li>
<p>
VR teleoperation stack for Kayaa, the 29-DoF Unitree G1 humanoid I work on:
Quest 3 controller and hand poses fused with ZED BODY_38 skeletons, GMR
retargeting into NVIDIA SONIC whole-body control. 0.7 cm wrist accuracy on
hardware.
</p>
</li>
<li>
<p>
Deployed on Jetson AGX Orin with custom SONIC and TensorRT builds, plus a stereo
vision return path from the ZED to the Quest over WebRTC.
</p>
</li>
<li>
<p>
Cognitive architecture for context-aware surgical assistance, integrating LLM and
RAG pipelines, with an STT, LLM and TTS stack running on the Orin itself.
</p>
</li>
<li>
<p>
Robot-learning stack: an imitation-learning data pipeline for GR00T N1.7
action-space fine-tuning on a new embodiment, and baseline locomotion policies
across Isaac Sim, Isaac Gym and MuJoCo.
</p>
</li>
</ul>
<div class="stack">
<span class="pill">Unitree G1</span>
<span class="pill">Meta Quest 3</span>
<span class="pill">ZED BODY_38</span>
<span class="pill">GMR retargeting</span>
<span class="pill">NVIDIA SONIC</span>
<span class="pill">Jetson AGX Orin</span>
<span class="pill">TensorRT</span>
<span class="pill">WebRTC</span>
<span class="pill">LLM + RAG</span>
<span class="pill">STT / TTS</span>
<span class="pill">GR00T N1.7</span>
<span class="pill">Isaac Sim</span>
<span class="pill">Isaac Gym</span>
<span class="pill">MuJoCo</span>
</div>
</div>
<div class="xp">
<div class="xp-top">
<div>
<h3>Robotics Engineer (Firmware & Autonomy)</h3>
<div class="co">RigBetel Labs — Pune</div>
</div>
<div class="meta">AMRs, UGVs, PX4 & embedded systems · May 2024 – June 2025</div>
</div>
<ul>
<li>
<p>
Integrated PX4 for UGVs with GPS-based outdoor autonomous navigation and IMU/GPS/vision sensor fusion; shipped full ROS 2 + NAV2 autonomous navigation stacks for AMRs tied into real-time embedded firmware.
</p>
</li>
<li>
<p>
Wrote low- and high-level ROS 2 drivers (SPI, I2C, UART, CAN) for LiDARs, IMUs, and motor controllers; built a C++ motor controller with a low-level PID loop, Kalman-filter IMU+encoder odometry, and live tuning GUI.
</p>
</li>
<li>
<p>
Developed a robotic arm "Record & Play" mode using drive servos as position feedback sensors (tapping internal potentiometers), avoiding external encoders. Migrated legacy firmware to Micro-ROS.
</p>
</li>
</ul>
<div class="stack">
<span class="pill">ROS 2 NAV2</span>
<span class="pill">PX4 UGV</span>
<span class="pill">GPS Waypoint Nav</span>
<span class="pill">AMR Docking</span>
<span class="pill">ESP32</span>
<span class="pill">C++ Motor Control</span>
<span class="pill">Kalman Filter</span>
<span class="pill">RTOS</span>
</div>
</div>
<div class="xp">
<div class="xp-top">
<div>
<h3>Mechatronics Research Intern</h3>
<div class="co">Centre For Advanced Studies, AKTU — Lucknow</div>
</div>
<div class="meta">Swarm Robotics & Visual Servoing · June 2022 – Dec 2023</div>
</div>
<ul>
<li>
<p>
Research under Dr. Anuj Kumar Sharma: Built an optical color-light communication system for miniature swarm robots using XGBoost on 32-bit MCUs (96.66% accuracy at 0.403 ms execution), published in <em>Springer Arabian Journal for Science and Engineering</em>.
</p>
</li>
<li>
<p>
Led the "Vanguard" team in IIT Bombay's e-Yantra Robotics Competition (eYRC 2023-24, Top 30 in India): Designed an overhead camera visual-servoing system with OpenCV for real-time target tracking and autonomous two-wheeled robot control.
</p>
</li>
</ul>
<div class="stack">
<span class="pill">Swarm Robotics</span>
<span class="pill">Springer AJSE</span>
<span class="pill">Visual Servoing</span>
<span class="pill">OpenCV</span>
<span class="pill">XGBoost MCU</span>
<span class="pill">e-Yantra IIT Bombay</span>
<span class="pill">MQTT</span>
</div>
</div>
</section>
<div class="rule"></div>
<!-- ===== SKILLS ===== -->
<section id="skills">
<div class="sec-head">
<div class="tag">Skills</div>
<h2>Tools</h2>
</div>
<div class="skills">
<div class="skill">
<h3>Simulation & sim-to-real</h3>
<div class="pills">
<span class="pill">Isaac Sim</span><span class="pill">Isaac Gym</span>
<span class="pill">MuJoCo</span><span class="pill">URDF</span>
<span class="pill">Sim-to-real transfer</span>
</div>
</div>
<div class="skill">
<h3>Learning</h3>
<div class="pills">
<span class="pill">GR00T N1.7</span><span class="pill">Imitation learning</span>
<span class="pill">Locomotion policies</span><span class="pill">PyTorch</span>
<span class="pill">LLM / RAG</span>
</div>
</div>
<div class="skill">
<h3>Control & teleoperation</h3>
<div class="pills">
<span class="pill">Whole-body control</span><span class="pill">NVIDIA SONIC</span>
<span class="pill">Motion retargeting</span><span class="pill">Manipulation</span>
</div>
</div>
<div class="skill">
<h3>Perception & navigation</h3>
<div class="pills">
<span class="pill">LiDAR SLAM</span><span class="pill">FAST-LIO</span>
<span class="pill">ZED stereo</span><span class="pill">ROS 2</span>
</div>
</div>
<div class="skill">
<h3>Systems</h3>
<div class="pills">
<span class="pill">C++</span><span class="pill">Python</span>
<span class="pill">CUDA</span><span class="pill">TensorRT</span>
<span class="pill">Jetson</span><span class="pill">ESP32</span>
</div>
</div>
</div>
</section>
<!-- ===== APPROACH (footnote) ===== -->
<section id="approach" style="padding-top: 0;">
<div class="approach">
<div class="ap">
<h3>From scratch</h3>
<p>Teleoperation stacks, cognitive architectures and firmware written from the ground up rather than assembled from parts I can't debug.</p>
</div>
<div class="ap">
<h3>One layer lower</h3>
<p>The arm had no encoders, so the joint feedback came off the potentiometer inside the servo. The way through is usually a layer below where you're looking.</p>
</div>
<div class="ap">
<h3>On hardware</h3>
<p>Simulation is a checkpoint. Everything here runs on a physical robot, and the footage is on this page.</p>
</div>
</div>
</section>
<!-- ===== TEAM ===== -->
<section class="team">
<div class="team-frame">
<picture>
<source srcset="team.webp" type="image/webp">
<img src="team.jpg" alt="Illustration of the humanoid robotics team working together in the lab"
width="1500" height="844" loading="lazy" decoding="async">
</picture>
</div>
<p class="cap">Couldn't have been possible without the help and support of the team ❤️</p>
</section>
<!-- ===== CONTACT ===== -->
<section id="contact">
<div class="contact">
<h2>Get in touch</h2>
<p>Open to robotics roles and collaborations.</p>
<div class="btns">
<a class="btn primary" href="mailto:krishnaguptarobotics@gmail.com">krishnaguptarobotics@gmail.com</a>
<a class="btn ghost" href="assets/docs/sys_spec.pdf" target="_blank" rel="noopener">Spec Sheet ↗</a>
<a class="btn ghost" href="https://github.com/robomantri" target="_blank" rel="noopener">GitHub ↗</a>
</div>
</div>
</section>
<footer>
<span>© 2026 Krishna Gupta</span>
<span><a href="https://github.com/robomantri" target="_blank" rel="noopener">github.com/robomantri</a></span>
</footer>
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